Sync. with JSBSim CVS

src/FDM/JSBSim/models/FGExternalForce.cpp

@@ -150,7 +150,7 @@ FGExternalForce::FGExternalForce(const FGExternalForce& extForce) : FGForce(extF
 FGExternalForce::~FGExternalForce()
 {
   unbind( PropertyManager->GetNode("external_reactions"));
-
+  delete Magnitude_Function;
   Debug(1);
 }
 

src/FDM/JSBSim/models/FGFCS.cpp

@@ -54,6 +54,7 @@ INCLUDES
 #include <models/flight_control/FGFCSFunction.h>
 #include <models/flight_control/FGSensor.h>
 #include <models/flight_control/FGActuator.h>
+#include <models/flight_control/FGAccelerometer.h>
 
 namespace JSBSim {
 
@@ -453,7 +454,7 @@ void FGFCS::SetMixturePos(int engineNum, double setting)
 
   if (engineNum < (int)ThrottlePos.size()) {
     if (engineNum < 0) {
-      for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
+      for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
     } else {
       MixturePos[engineNum] = setting;
     }
@@ -483,7 +484,7 @@ void FGFCS::SetPropAdvance(int engineNum, double setting)
 
   if (engineNum < (int)ThrottlePos.size()) {
     if (engineNum < 0) {
-      for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
+      for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
     } else {
       PropAdvance[engineNum] = setting;
     }
@@ -513,7 +514,7 @@ void FGFCS::SetPropFeather(int engineNum, bool setting)
 
   if (engineNum < (int)ThrottlePos.size()) {
     if (engineNum < 0) {
-      for (ctr=0;ctr<=PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
+      for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
     } else {
       PropFeather[engineNum] = setting;
     }
@@ -578,11 +579,11 @@ bool FGFCS::Load(Element* el, SystemType systype)
   // all stored in the interface properties array.
 
   property_element = document->FindElement("property");
-  if (property_element) cout << endl << "    Declared properties" << endl << endl;
+  if (property_element && debug_lvl > 0) cout << endl << "    Declared properties" << endl << endl;
   while (property_element) {
     interface_property_string = property_element->GetDataLine();
     if (PropertyManager->HasNode(interface_property_string)) {
-      cout << "      Property " << interface_property_string << " is already defined." << endl;
+      cerr << "      Property " << interface_property_string << " is already defined." << endl;
     } else {
       double value=0.0;
       if ( ! property_element->GetAttributeValue("value").empty())
@@ -590,6 +591,7 @@ bool FGFCS::Load(Element* el, SystemType systype)
       interface_properties.push_back(new double(value));
       interface_property_string = property_element->GetDataLine();
       PropertyManager->Tie(interface_property_string, interface_properties.back());
+      if (debug_lvl > 0)
         cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
     }
     property_element = document->FindNextElement("property");
@@ -611,6 +613,7 @@ bool FGFCS::Load(Element* el, SystemType systype)
       interface_property_string = property_element->GetDataLine();
       if (PropertyManager->HasNode(interface_property_string)) {
         FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
+        if (debug_lvl > 0)
           cout << "      " << "Overriding value for property " << interface_property_string
                << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
         node->setDoubleValue(value);
@@ -679,6 +682,8 @@ bool FGFCS::Load(Element* el, SystemType systype)
           Components->push_back(new FGActuator(this, component_element));
         } else if (component_element->GetName() == string("sensor")) {
           Components->push_back(new FGSensor(this, component_element));
+        } else if (component_element->GetName() == string("accelerometer")) {
+          Components->push_back(new FGAccelerometer(this, component_element));
         } else {
           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
         }

src/FDM/JSBSim/models/FGLGear.cpp

@@ -260,6 +260,7 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
 
 FGLGear::~FGLGear()
 {
+  delete ForceY_Table;
   Debug(1);
 }
 

src/FDM/JSBSim/models/FGModel.h

@@ -110,6 +110,7 @@ public:
   virtual bool InitModel(void);
   virtual void SetRate(int tt) {rate = tt;}
   virtual int  GetRate(void)   {return rate;}
+  FGFDMExec* GetExec(void)     {return FDMExec;}
 
   void SetPropertyManager(FGPropertyManager *fgpm) { PropertyManager=fgpm;}
 

src/FDM/JSBSim/models/FGPropagate.cpp

@@ -57,8 +57,8 @@ INCLUDES
 #include <iomanip>
 
 #include "FGPropagate.h"
-#include <FGState.h>
 #include <FGFDMExec.h>
+#include <FGState.h>
 #include "FGAircraft.h"
 #include "FGMassBalance.h"
 #include "FGInertial.h"
@@ -511,6 +511,10 @@ void FGPropagate::bind(void)
   PropertyManager->Tie("velocities/q-rad_sec", this, eQ, (PMF)&FGPropagate::GetPQR);
   PropertyManager->Tie("velocities/r-rad_sec", this, eR, (PMF)&FGPropagate::GetPQR);
 
+  PropertyManager->Tie("velocities/pi-rad_sec", this, eP, (PMF)&FGPropagate::GetPQRi);
+  PropertyManager->Tie("velocities/qi-rad_sec", this, eQ, (PMF)&FGPropagate::GetPQRi);
+  PropertyManager->Tie("velocities/ri-rad_sec", this, eR, (PMF)&FGPropagate::GetPQRi);
+
   PropertyManager->Tie("velocities/eci-velocity-mag-fps", this, &FGPropagate::GetInertialVelocityMagnitude);
 
   PropertyManager->Tie("accelerations/pdot-rad_sec2", this, eP, (PMF)&FGPropagate::GetPQRdot);

src/FDM/JSBSim/models/FGPropagate.h

@@ -40,7 +40,6 @@ INCLUDES
 
 #include <models/FGModel.h>
 #include <math/FGColumnVector3.h>
-#include <initialization/FGInitialCondition.h>
 #include <math/FGLocation.h>
 #include <math/FGQuaternion.h>
 #include <math/FGMatrix33.h>
@@ -57,6 +56,8 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class FGInitialCondition;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -97,25 +98,10 @@ CLASS DECLARATION
 
 class FGPropagate : public FGModel {
 public:
-  /** Constructor.
-      The constructor initializes several variables, and sets the initial set
-      of integrators to use as follows:
-      - integrator, rotational rate = Adams Bashforth 2
-      - integrator, translational rate = Adams Bashforth 2
-      - integrator, rotational position = Trapezoidal
-      - integrator, translational position = Trapezoidal
-      @param Executive a pointer to the parent executive object */
-  FGPropagate(FGFDMExec* Executive);
 
-  /// Destructor
+  /** The current vehicle state vector structure contains the translational and
-  ~FGPropagate();
-  
-  /// These define the indices use to select the various integrators.
-  enum eIntegrateType {eNone = 0, eRectEuler, eTrapezoidal, eAdamsBashforth2, eAdamsBashforth3};
-
-/** The current vehicle state vector structure contains the translational and
     angular position, and the translational and angular velocity. */
-struct VehicleState {
+  struct VehicleState {
     /** Represents the current location of the vehicle in Earth centered Earth
         fixed (ECEF) frame.
         units ft */
@@ -131,7 +117,23 @@ struct VehicleState {
     /** The current orientation of the vehicle, that is, the orientation of the
         body frame relative to the local, vehilce-carried, NED frame. */
     FGQuaternion vQtrn;
-};
+  };
+
+  /** Constructor.
+      The constructor initializes several variables, and sets the initial set
+      of integrators to use as follows:
+      - integrator, rotational rate = Adams Bashforth 2
+      - integrator, translational rate = Adams Bashforth 2
+      - integrator, rotational position = Trapezoidal
+      - integrator, translational position = Trapezoidal
+      @param Executive a pointer to the parent executive object */
+  FGPropagate(FGFDMExec* Executive);
+
+  /// Destructor
+  ~FGPropagate();
+  
+  /// These define the indices use to select the various integrators.
+  enum eIntegrateType {eNone = 0, eRectEuler, eTrapezoidal, eAdamsBashforth2, eAdamsBashforth3};
 
   /** Initializes the FGPropagate class after instantiation and prior to first execution.
       The base class FGModel::InitModel is called first, initializing pointers to the 
@@ -181,7 +183,7 @@ struct VehicleState {
   */
   const FGColumnVector3& GetUVWdot(void) const { return vUVWdot; }
   
-  /** Retrieves the body angular rates vector.
+  /** Retrieves the body angular rates vector, relative to the ECEF frame.
       Retrieves the body angular rates (p, q, r), which are calculated by integration
       of the angular acceleration.
       The vector returned is represented by an FGColumnVector reference. The vector
@@ -195,6 +197,20 @@ struct VehicleState {
   */
   const FGColumnVector3& GetPQR(void) const {return VState.vPQR;}
   
+  /** Retrieves the body angular rates vector, relative to the ECI (inertial) frame.
+      Retrieves the body angular rates (p, q, r), which are calculated by integration
+      of the angular acceleration.
+      The vector returned is represented by an FGColumnVector reference. The vector
+      for the angular velocity in Body frame is organized (P, Q, R). The vector
+      is 1-based, so that the first element can be retrieved using the "()" operator.
+      In other words, vPQR(1) is P. Various convenience enumerators are defined
+      in FGJSBBase. The relevant enumerators for the vector returned by this call are,
+      eP=1, eQ=2, eR=3.
+      units rad/sec
+      @return The body frame angular rates in rad/sec.
+  */
+  const FGColumnVector3& GetPQRi(void) const {return vPQRi;}
+
   /** Retrieves the body axis angular acceleration vector.
       Retrieves the body axis angular acceleration vector in rad/sec^2. The
       angular acceleration vector is determined from the applied forces and
@@ -286,7 +302,7 @@ struct VehicleState {
   */
   double Gethmeters(void) const { return Geth()*fttom;}
 
-  /** Retrieves a body frame angular velocity component.
+  /** Retrieves a body frame angular velocity component relative to the ECEF frame.
       Retrieves a body frame angular velocity component. The angular velocity
       returned is extracted from the vPQR vector (an FGColumnVector). The vector
       for the angular velocity in Body frame is organized (P, Q, R). The vector
@@ -299,6 +315,19 @@ struct VehicleState {
   */
   double GetPQR(int axis) const {return VState.vPQR(axis);}
 
+  /** Retrieves a body frame angular velocity component relative to the ECI (inertial) frame.
+      Retrieves a body frame angular velocity component. The angular velocity
+      returned is extracted from the vPQR vector (an FGColumnVector). The vector
+      for the angular velocity in Body frame is organized (P, Q, R). The vector
+      is 1-based. In other words, GetPQR(1) returns P (roll rate). Various
+      convenience enumerators are defined in FGJSBBase. The relevant enumerators
+      for the angular velocity returned by this call are, eP=1, eQ=2, eR=3.
+      units rad/sec
+      @param axis the index of the angular velocity component desired (1-based).
+      @return The body frame angular velocity component.
+  */
+  double GetPQRi(int axis) const {return vPQRi(axis);}
+
   /** Retrieves a body frame angular acceleration component.
       Retrieves a body frame angular acceleration component. The angular
       acceleration returned is extracted from the vPQRdot vector (an
@@ -423,13 +452,13 @@ struct VehicleState {
       @return a reference to the local-to-ECEF matrix.  */
   const FGMatrix33& GetTl2ec(void) const { return VState.vLocation.GetTl2ec(); }
 
-  const VehicleState GetVState(void) const { return VState; }
+  VehicleState* GetVState(void) { return &VState; }
 
-  void SetVState(VehicleState vstate) {
+  void SetVState(VehicleState* vstate) {
-      VState.vLocation = vstate.vLocation;
+      VState.vLocation = vstate->vLocation;
-      VState.vUVW = vstate.vUVW;
+      VState.vUVW = vstate->vUVW;
-      VState.vPQR = vstate.vPQR;
+      VState.vPQR = vstate->vPQR;
-      VState.vQtrn = vstate.vQtrn; // ... mmh
+      VState.vQtrn = vstate->vQtrn; // ... mmh
   }
 
   const FGQuaternion GetQuaternion(void) const { return VState.vQtrn; }
@@ -504,4 +533,7 @@ private:
 };
 }
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+#include <initialization/FGInitialCondition.h>
+
 #endif

src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp

@@ -0,0 +1,207 @@
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Module:       FGAccelerometer.cpp
+ Author:       Jon Berndt
+ Date started: 9 July 2005
+
+ ------------- Copyright (C) 2005 -------------
+
+ This program is free software; you can redistribute it and/or modify it under
+ the terms of the GNU Lesser General Public License as published by the Free Software
+ Foundation; either version 2 of the License, or (at your option) any later
+ version.
+
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+ details.
+
+ You should have received a copy of the GNU Lesser General Public License along with
+ this program; if not, write to the Free Software Foundation, Inc., 59 Temple
+ Place - Suite 330, Boston, MA  02111-1307, USA.
+
+ Further information about the GNU Lesser General Public License can also be found on
+ the world wide web at http://www.gnu.org.
+
+FUNCTIONAL DESCRIPTION
+--------------------------------------------------------------------------------
+
+HISTORY
+--------------------------------------------------------------------------------
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES,  and NOTES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include "FGAccelerometer.h"
+
+namespace JSBSim {
+
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_ACCELEROMETER;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+
+FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element) : FGSensor(fcs, element)
+{
+  Propagate = fcs->GetExec()->GetPropagate();
+  MassBalance = fcs->GetExec()->GetMassBalance();
+  
+  Element* location_element = element->FindElement("location");
+  if (location_element) vLocation = location_element->FindElementTripletConvertTo("IN");
+  else {cerr << "No location given for accelerometer. " << endl; exit(-1);}
+
+  vRadius = MassBalance->StructuralToBody(vLocation);
+
+  Element* orient_element = element->FindElement("orientation");
+  if (orient_element) vOrient = orient_element->FindElementTripletConvertTo("RAD");
+  else {cerr << "No orientation given for accelerometer. " << endl;}
+
+  Element* axis_element = element->FindElement("axis");
+  if (axis_element) {
+    string sAxis = element->FindElementValue("axis");
+    if (sAxis == "X" || sAxis == "x") {
+      axis = 1;
+    } else if (sAxis == "Y" || sAxis == "y") {
+      axis = 2;
+    } else if (sAxis == "Z" || sAxis == "z") {
+      axis = 3;
+    } else {
+      cerr << "  Incorrect/no axis specified for accelerometer; assuming X axis" << endl;
+      axis = 1;
+    }
+  }
+
+  CalculateTransformMatrix();
+
+  Debug(0);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGAccelerometer::~FGAccelerometer()
+{
+  Debug(1);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGAccelerometer::Run(void )
+{
+  // There is no input assumed. This is a dedicated acceleration sensor.
+  
+  vRadius = MassBalance->StructuralToBody(vLocation);
+
+  vAccel = mT * (Propagate->GetUVWdot()
+                 + Propagate->GetPQRdot() * vRadius
+                 + Propagate->GetPQR() * (Propagate->GetPQR() * vRadius));
+  
+  Input = vAccel(axis);
+
+  Output = Input; // perfect accelerometer
+
+  // Degrade signal as specified
+
+  if (fail_stuck) {
+    Output = PreviousOutput;
+    return true;
+  }
+
+  if (lag != 0.0)            Lag();       // models accelerometer lag
+  if (noise_variance != 0.0) Noise();     // models noise
+  if (drift_rate != 0.0)     Drift();     // models drift over time
+  if (bias != 0.0)           Bias();      // models a finite bias
+
+  if (fail_low)  Output = -HUGE_VAL;
+  if (fail_high) Output =  HUGE_VAL;
+
+  if (bits != 0)             Quantize();  // models quantization degradation
+//  if (delay != 0.0)          Delay();     // models system signal transport latencies
+
+  Clip(); // Is it right to clip an accelerometer?
+  return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGAccelerometer::CalculateTransformMatrix(void)
+{
+  double cp,sp,cr,sr,cy,sy;
+
+  cp=cos(vOrient(ePitch)); sp=sin(vOrient(ePitch));
+  cr=cos(vOrient(eRoll));  sr=sin(vOrient(eRoll));
+  cy=cos(vOrient(eYaw));   sy=sin(vOrient(eYaw));
+
+  mT(1,1) =  cp*cy;
+  mT(1,2) =  cp*sy;
+  mT(1,3) = -sp;
+
+  mT(2,1) = sr*sp*cy - cr*sy;
+  mT(2,2) = sr*sp*sy + cr*cy;
+  mT(2,3) = sr*cp;
+
+  mT(3,1) = cr*sp*cy + sr*sy;
+  mT(3,2) = cr*sp*sy - sr*cy;
+  mT(3,3) = cr*cp;
+  
+  // This transform is different than for FGForce, where we want a native nozzle
+  // force in body frame. Here we calculate the body frame accel and want it in
+  // the transformed accelerometer frame. So, the next line is commented out.
+  // mT = mT.Inverse();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGAccelerometer::Debug(int from)
+{
+  string ax[4] = {"none", "X", "Y", "Z"};
+
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+      cout << "        Axis: " << ax[axis] << endl;
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGAccelerometer" << endl;
+    if (from == 1) cout << "Destroyed:    FGAccelerometer" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
+}
+}

src/FDM/JSBSim/models/flight_control/FGAccelerometer.h

@@ -0,0 +1,140 @@
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Header:       FGAccelerometer.h
+ Author:       Jon Berndt
+ Date started: May 2009
+
+ ------------- Copyright (C) 2009 -------------
+
+ This program is free software; you can redistribute it and/or modify it under
+ the terms of the GNU Lesser General Public License as published by the Free Software
+ Foundation; either version 2 of the License, or (at your option) any later
+ version.
+
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+ details.
+
+ You should have received a copy of the GNU Lesser General Public License along with
+ this program; if not, write to the Free Software Foundation, Inc., 59 Temple
+ Place - Suite 330, Boston, MA  02111-1307, USA.
+
+ Further information about the GNU Lesser General Public License can also be found on
+ the world wide web at http://www.gnu.org.
+
+HISTORY
+--------------------------------------------------------------------------------
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+SENTRY
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#ifndef FGACCELEROMETER_H
+#define FGACCELEROMETER_H
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include "FGSensor.h"
+#include <input_output/FGXMLElement.h>
+#include "models/FGPropagate.h"
+#include "models/FGMassBalance.h"
+#include "math/FGColumnVector3.h"
+#include "math/FGMatrix33.h"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_ACCELEROMETER "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+namespace JSBSim {
+
+class FGFCS;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates a Accelerometer component for the flight control system.
+
+Syntax:
+
+@code
+<accelerometer name="name">
+  <input> property </input>
+  <lag> number </lag>
+  <noise variation="PERCENT|ABSOLUTE"> number </noise>
+  <quantization name="name">
+    <bits> number </bits>
+    <min> number </min>
+    <max> number </max>
+  </quantization>
+  <drift_rate> number </drift_rate>
+  <bias> number </bias>
+</accelerometer>
+@endcode
+
+Example:
+
+@code
+<accelerometer name="aero/accelerometer/qbar">
+  <input> aero/qbar </input>
+  <lag> 0.5 </lag>
+  <noise variation="PERCENT"> 2 </noise>
+  <quantization name="aero/accelerometer/quantized/qbar">
+    <bits> 12 </bits>
+    <min> 0 </min>
+    <max> 400 </max>
+  </quantization>
+  <bias> 0.5 </bias>
+</accelerometer>
+@endcode
+
+The only required element in the accelerometer definition is the input element. In that
+case, no degradation would be modeled, and the output would simply be the input.
+
+For noise, if the type is PERCENT, then the value supplied is understood to be a
+percentage variance. That is, if the number given is 0.05, the the variance is
+understood to be +/-0.05 percent maximum variance. So, the actual value for the accelerometer
+will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
+even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
+time.
+
+@author Jon S. Berndt
+@version $Revision$
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+class FGAccelerometer  : public FGSensor
+{
+public:
+  FGAccelerometer(FGFCS* fcs, Element* element);
+  ~FGAccelerometer();
+
+  bool Run (void);
+
+private:
+  FGPropagate* Propagate;
+  FGMassBalance* MassBalance;
+  FGColumnVector3 vLocation;
+  FGColumnVector3 vOrient;
+  FGColumnVector3 vRadius;
+  FGColumnVector3 vAccel;
+  FGMatrix33 mT;
+  void CalculateTransformMatrix(void);
+  int axis;
+  
+  void Debug(int from);
+};
+}
+#endif

src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp

@@ -89,6 +89,8 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs)
     Type = "PID";
   } else if (element->GetName() == string("sensor")) {
     Type = "SENSOR";
+  } else if (element->GetName() == string("accelerometer")) {
+    Type = "ACCELEROMETER";
   } else if (element->GetName() == string("actuator")) {
     Type = "ACTUATOR";
   } else { // illegal component in this channel

src/FDM/JSBSim/models/flight_control/FGSensor.cpp

@@ -252,11 +252,12 @@ void FGSensor::Debug(int from)
 
   if (debug_lvl & 1) { // Standard console startup message output
     if (from == 0) { // Constructor
+      if (InputSigns.size() > 0) {
         if (InputSigns[0] < 0)
           cout << "      INPUT: -" << InputNodes[0]->getName() << endl;
         else
           cout << "      INPUT: " << InputNodes[0]->getName() << endl;
-
+      }
       if (IsOutput) cout << "      OUTPUT: " << OutputNode->getName() << endl;
       if (bits != 0) {
         if (quant_property.empty())

src/FDM/JSBSim/models/flight_control/FGSensor.h

@@ -117,18 +117,18 @@ public:
   FGSensor(FGFCS* fcs, Element* element);
   ~FGSensor();
 
-  inline void SetFailLow(double val) {if (val > 0.0) fail_low = true; else fail_low = false;}
+  void SetFailLow(double val) {if (val > 0.0) fail_low = true; else fail_low = false;}
-  inline void SetFailHigh(double val) {if (val > 0.0) fail_high = true; else fail_high = false;}
+  void SetFailHigh(double val) {if (val > 0.0) fail_high = true; else fail_high = false;}
-  inline void SetFailStuck(double val) {if (val > 0.0) fail_stuck = true; else fail_stuck = false;}
+  void SetFailStuck(double val) {if (val > 0.0) fail_stuck = true; else fail_stuck = false;}
 
-  inline double GetFailLow(void) const {if (fail_low) return 1.0; else return 0.0;}
+  double GetFailLow(void) const {if (fail_low) return 1.0; else return 0.0;}
-  inline double GetFailHigh(void) const {if (fail_high) return 1.0; else return 0.0;}
+  double GetFailHigh(void) const {if (fail_high) return 1.0; else return 0.0;}
-  inline double GetFailStuck(void) const {if (fail_stuck) return 1.0; else return 0.0;}
+  double GetFailStuck(void) const {if (fail_stuck) return 1.0; else return 0.0;}
-  inline int    GetQuantized(void) const {return quantized;}
+  int    GetQuantized(void) const {return quantized;}
 
-  bool Run (void);
+  virtual bool Run (void);
 
-private:
+protected:
   enum eNoiseType {ePercent=0, eAbsolute} NoiseType;
   double dt;
   double min, max;
@@ -160,6 +160,7 @@ private:
 
   void bind(void);
 
+private:
   void Debug(int from);
 };
 }

src/FDM/JSBSim/models/flight_control/Makefile.am

@@ -3,10 +3,10 @@ noinst_LIBRARIES = libFlightControl.a
 libFlightControl_a_SOURCES = FGPID.cpp FGDeadBand.cpp FGFCSComponent.cpp \
                             FGFilter.cpp FGGain.cpp FGGradient.cpp FGKinemat.cpp \
                             FGSummer.cpp FGSwitch.cpp FGFCSFunction.cpp FGSensor.cpp \
-                            FGActuator.cpp
+                            FGActuator.cpp FGAccelerometer.cpp
 
 noinst_HEADERS = FGPID.h FGDeadBand.h FGFCSComponent.h FGFilter.h \
                  FGGain.h FGGradient.h FGKinemat.h FGSummer.h FGSwitch.h FGFCSFunction.h \
-                 FGSensor.h FGActuator.h
+                 FGSensor.h FGActuator.h FGAccelerometer.h
 
 INCLUDES = -I$(top_srcdir)/src/FDM/JSBSim

src/FDM/JSBSim/models/propulsion/FGRocket.cpp

@@ -98,6 +98,7 @@ FGRocket::FGRocket(FGFDMExec* exec, Element *el, int engine_number)
 
 FGRocket::~FGRocket(void)
 {
+  delete ThrustTable;
   Debug(1);
 }
 

src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp

@@ -57,7 +57,8 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 FGTurboProp::FGTurboProp(FGFDMExec* exec, Element *el, int engine_number)
-  : FGEngine(exec, el, engine_number)
+  : FGEngine(exec, el, engine_number),
+    ITT_N1(NULL), EnginePowerRPM_N1(NULL), EnginePowerVC(NULL)
 {
   SetDefaults();
 
@@ -69,6 +70,9 @@ FGTurboProp::FGTurboProp(FGFDMExec* exec, Element *el, int engine_number)
 
 FGTurboProp::~FGTurboProp()
 {
+  delete ITT_N1;
+  delete EnginePowerRPM_N1;
+  delete EnginePowerVC;
   Debug(1);
 }